Bearing estimation using a single moving acoustic vector sensor

Abstract

It is well known that a single moving pressure sensor can be used to estimate the bearing to a pure tone source if the source frequency is known a priori. It can also be shown, from the analysis of the relevant Grammian, that even if the source frequency and bearing are jointly estimated, say with a Kalman filter, it cannot be done, i.e., at least two sensors are necessary. However, if a PV sensor is used, additional measurements are provided, thereby allowing the estimation to be done. Although additional measurements are provided, there is still only a single physical sensor. Thus, even for small moving undersea vehicle, with its small amount of real estate, bearing measurements can be made. An example using simulated data is given.